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Research on cross-ridge mobile robot combining autonomous navigation and computer vision for transplantation of seedlings

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2021 ASABE Annual International Virtual Meeting  2100341.(doi:10.13031/aim.202100341)
Authors:   Yuhao Zhu, Jiping Fan, Xiangqian Dong, Xiteng Zheng, Yu Chen
Keywords:   finite state machine (FSM), OpenCV, agriculture robot.

Abstract. To solve the problem of missing and wrong seedlings in the process of transplantation, this paper proposes an autonomous navigation and cross-ridge mobile robot based on the theory of finite state machine(FSM) and computer vision (OpenCV) to realize the task of identification and replacement of transplanted seedlings. The robot is composed of four-wheel drive mobile platform, three-DOF operating device and measurement and control system. Measurement and control system consists of two parts: robot main control strategy and computer vision processing strategy: the main control strategy polls each sensor, makes judgement and switches to sub-state, computer vision processing strategy takes the shape and color of the camera picture as comprehensive criterion, and returns coordinate value. The trial-produced prototype under the simulation of the ridge field can reach 0.7km/h, the judgment accuracy is 95%, the transplanting deviation is lower than 10%, the expected target is reached.

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